cable.py 文件源码

def publish(topic, instructions=None):
    if type(topic) not in [str, nb_channels.Messages]:
        rospy.logerr("** Topic must be of type string or Messages in order to publish to cable **")
        return False

    if instructions and type(instructions) is not dict:
        rospy.logerr("** Instructions must be of type dictionary in order to publish to cable **")
        return False

    # Properly format topic string
    topic_val = topic if type(topic) is str else topic.value 

    try:
        rospy.wait_for_service('ui_send', 0.1)

        client = UIClient()
        return client.send(
            topic_val,
            json.dumps(instructions) 
        )
    except rospy.ROSException:
        return UIMessageResponse(success=False)